RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control.
Siddhant GangapurwalaMathieu GeisertRomeo OrsolinoMaurice F. FallonIoannis HavoutisPublished in: CoRR (2020)
Keyphrases
- optimal control
- rough terrain
- legged locomotion
- reinforcement learning
- legged robots
- control problems
- robot behavior
- feedback control
- autonomous navigation
- humanoid robot
- dynamic programming
- infinite horizon
- actor critic
- inverted pendulum
- state space
- rl algorithms
- function approximation
- real robot
- optimal control problems
- control law
- control strategy
- optimal policy
- image sequences
- reinforcement learning algorithms
- mobile robot
- action selection
- control method
- neural network